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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_94ddb28d1a8f6d812dff56d903a1ce15.html">global_body_planner</a></li>  </ul>
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<div class="title">rotate_grf.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef ROTATEGRF_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define ROTATEGRF_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;array&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;std::array&lt;double,3&gt; rotate_grf(std::array&lt;double,3&gt; surface_norm, std::array&lt;double,3&gt; grf)</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;{</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    <span class="comment">// Receive data and convert to Eigen</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    Eigen::Vector3d Zs;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    Zs &lt;&lt; 0,0,1;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    Eigen::Vector3d surface_norm_eig;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    surface_norm_eig &lt;&lt; surface_norm[0],surface_norm[1],surface_norm[2];</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="comment">// Normalize surface normal</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    surface_norm_eig.normalize();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    Eigen::Vector3d grf_eig;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    grf_eig &lt;&lt; grf[0],grf[1],grf[2];</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="comment">// Compute priors</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    Eigen::Vector3d v = Zs.cross(surface_norm_eig);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">double</span> s = v.norm();</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordtype">double</span> c = Zs.dot(surface_norm_eig);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    Eigen::Matrix3d vskew;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    vskew &lt;&lt; 0, -v[2], v[1],</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;             v[2], 0, -v[0],</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;             -v[1], v[0], 0;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    Eigen::Matrix3d R; <span class="comment">// Rotation matrix to rotate from contact frame to spatial frame</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordtype">double</span> eps = 0.000001;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordflow">if</span> (s &lt; eps)</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        R = Eigen::Matrix3d::Identity();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        R = Eigen::Matrix3d::Identity() + vskew + vskew*vskew * (1-c)/(s*s);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    Eigen::Vector3d grf_spatial_eig = R*grf_eig;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    std::array&lt;double,3&gt; grf_spatial = {grf_spatial_eig[0],grf_spatial_eig[1],grf_spatial_eig[2]};</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">return</span> grf_spatial;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#endif</span></div></div><!-- fragment --></div><!-- contents -->
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